Omni traction wheel system and methods of operating the same

Abstract

The present invention is an omni traction wheel system, which adopts an integrated differential mechanism to generate longitudinal and lateral traction forces. The omni traction wheel system may include a rotary device that delivers two individually controllable rotational forces, the differential output of which may drive a plurality of peripheral wheels to rotate laterally, and the common output of which may drive a pair of longitudinal plates to rotate longitudinally. Accordingly, the omni traction wheel system may travel in all directions.

What is claimed is: 
     
       1. An omni traction wheel, comprising:
 first and second gears centrally aligned along a first axis; 
 a plurality of peripheral wheel assemblies, each having:
 a wheel member centrally aligned along a second axis, the second axis orthogonal to the first axis, and 
 a connecting gear having a distal end for engaging the first and second gears and a proximal end for engaging the wheel member, the distal end and the proximal end defining a radial axis, the radial axis parallel to a common radius of the first and second gears and orthogonal to the first axis and the second axis; and 
 
 a rotary device for rotating the first gear about the first axis at a first angular velocity and for rotating the second gear about the first axis at a second angular velocity, 
 whereby the connecting gear of each peripheral wheel assembly is configured to rotate its respective wheel member about the respective second axis when the first angular velocity is different from the second angular velocity. 
 
     
     
       2. The omni traction wheel of  claim 1 , further comprising a spacing member coupled between the first and second gears, the spacing member configured to maintain a constant distance between the first and second gears. 
     
     
       3. The omni traction wheel of  claim 2 , wherein the spacing member has
 a first disc operatively coupled to the first gear, 
 a second disc operatively coupled to the second gear, and 
 an axle coupled between the first and second discs, such that the first disc, the second disc, and the axle are configured to remain angularly stationary while the first and second gears are rotated by the rotary device. 
 
     
     
       4. The omni traction wheel of  claim 3 , wherein each peripheral wheel assembly has a brace member for operatively connecting the respective wheel member to the first or second disc of the spacing member. 
     
     
       5. The omni traction wheel of  claim 3 , wherein the connecting gear of each peripheral wheel assembly has a radial axle for connecting the proximal and distal ends of the connecting gear, such that the radial axle is orthogonal to a central axle of the spacing member. 
     
     
       6. The omni traction wheel of  claim 1 , wherein the first and second gears define a cylindrical space therebetween, the cylindrical space having a circumferential region, and wherein the connecting gear of each peripheral wheel assembly is configured to revolve along the circumferential region at a common angular velocity of the first angular velocity and the second angular velocity. 
     
     
       7. The omni traction wheel of  claim 1 , wherein the first and second gears are parallel to a plane positioned in the middle of the first and second gears, and wherein the wheel member of each peripheral wheel assembly is symmetrical along the plane. 
     
     
       8. The omni traction wheel of  claim 1 , wherein the connecting gear of each peripheral wheel assembly is configured to rotate clockwise about its radial axis when the first angular velocity is greater than the second angular velocity and to rotate counterclockwise about its radial axis when the first angular velocity is lesser than the second angular velocity. 
     
     
       9. The omni traction wheel of  claim 1 , wherein the wheel member of each peripheral wheel assembly has a first wheel, a second wheel, and a wheel axle centrally coupled between the first and second wheels, the first wheel having a receiving gear for engaging the proximal end of its connecting gear. 
     
     
       10. A transportation system having an omni traction wheel, comprising:
 left and right gears centrally aligned along a first axis, the left and right gears defining a cylindrical space therebetween, the cylindrical space having a circumferential region; 
 a plurality of peripheral wheel assemblies distributed along the circumferential region of the cylindrical space, each having:
 a pair of wheels centrally aligned along a second axis, the second axis orthogonal to the first axis, and 
 a connecting gear having a distal end for engaging the left and right gears and a proximal end for engaging the pair of wheels, the distal end and the proximal end defining a radial axis, the radial axis parallel to a common radius of the left and right gears and orthogonal to the first axis and the second axis; and 
 
 a rotary device for rotating the left gear about the first axis at a left angular velocity and for rotating the right gear about the first axis at a right angular velocity, 
 whereby the connecting gear of each peripheral wheel assembly is configured to rotate its respective pair of wheels about the respective second axis at a lateral angular velocity defined by a differential angular velocity between the left angular velocity and the right angular velocity, and 
 whereby the connecting gear of each peripheral wheel assembly is configured to revolve along the circumferential region at a common angular velocity of the left angular velocity and the right angular velocity. 
 
     
     
       11. The transportation system of  claim 10 , further comprising a spacing member coupled between the left and right gears, the spacing member configured to maintain a constant distance between the left and right gears, the spacing member having:
 a left disc operatively coupled to the left gear, 
 a right disc operatively coupled to the right gear, and 
 an axle coupled between the left and right discs, such that the left disc, the right disc, and the axle are configured to remain angularly stationary while the left and right gears are rotated by the rotary device. 
 
     
     
       12. The transportation system of  claim 11 , wherein each peripheral wheel assembly has a brace member for operatively connecting the respective wheel member to the left or right disc of the spacing member. 
     
     
       13. The transportation system of  claim 10 , wherein the pair of wheels of each peripheral wheel assembly has a first wheel, a second wheel, and a wheel axle centrally coupled between the first and second wheels, the first wheel having a receiving gear for engaging the proximal end of the respective connecting gear. 
     
     
       14. An omni traction wheel, comprising:
 first and second plates centrally aligned along a first axis; 
 a plurality of peripheral wheel assemblies, each having:
 a wheel member centrally aligned along a second axis, the second axis orthogonal to the first axis, and 
 a connecting member having a distal end for engaging the first and second plates and a proximal end for engaging the wheel member, the distal end and the proximal end defining a radial axis, the radial axis parallel to a common radius of the first and second plates and orthogonal to the first axis and the second axis; and 
 
 a rotary device for rotating the first plate about the first axis at a first angular velocity and for rotating the second plate about the first axis at a second angular velocity, 
 whereby the connecting member of each peripheral wheel assembly is configured to rotate its respective wheel member about the respective second axis when the first angular velocity is different from the second angular velocity. 
 
     
     
       15. The omni traction wheel of  claim 14 , wherein the first and second plates each has a frictional surface for engaging the distal end of the connecting member of each peripheral wheel assembly. 
     
     
       16. The omni traction wheel of  claim 14 , wherein the wheel member of each peripheral wheel assembly has a frictional surface for engaging the proximal end of the respective connecting member.